Wind turbine generator hoisting supporting device and method

Abstract

The invention discloses a wind turbine generator hoisting supporting device and method.The wind turbine generator hoisting supporting device comprises a supporting frame, a walking mechanism, a counterweight assembly, a turnover driving device, a turnover device, a detection device and a control system, and the walking mechanism is arranged at the lower end of the supporting frame and used for providing driving force for the supporting frame; the balance weight assemblies are symmetrically arranged at the two ends of the supporting frame and used for ensuring balance of the supporting frame, the turnover device is arranged on the supporting frame through the turnover driving device and used for fixing and turning over the wind turbine generator, the detection device is arranged in the middle of the turnover device and used for detecting fixing information of the turnover device on the wind turbine generator, and the control system is arranged on the supporting frame and used for controlling the turnover device. The control device is used for controlling driving force of the walking mechanism, the counterweight assembly, the turnover driving device and the turnover device. The wind turbine generator sets of various specifications can be fixed, hoisting can be conducted by being matched with one crane, the installation efficiency is effectively improved, the installation cost is reduced, and the problem that the hoisting space is insufficient is effectively solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of wind turbine generator sets, and in particular relates to a wind turbine generator set hoisting support device and method. Background Art

[0002] During the hoisting of wind turbines, especially the hoisting of towers and hubs (the hub hoisting corresponds to the high-altitude hoisting of single blades, when the hub is hoisted from the ground transportation state to the high-altitude machine position where the hub flange is connected to the main shaft), it is necessary to use an auxiliary crane to complete the installation. Therefore, a larger construction space is required. Due to special installation requirements, the hoisting site is small (such as the small site of individual machine positions for onshore units and the small operating area of ​​the hoisting platform deck of offshore units), which cannot fully meet the space requirements for two cranes (main and auxiliary cranes) to operate at the same time, resulting in difficulties in hoisting and installation. Summary of the invention

[0003] In order to at least partially solve the technical problems existing in the above-mentioned prior art, the present invention provides a wind turbine generator set hoisting support device and method.

[0004] The wind turbine hoisting support device of the present invention comprises a support frame, a walking mechanism, a counterweight assembly, a flipping drive device, a flipping device, a detection device and a control system, wherein the walking mechanism is arranged at the lower end of the support frame to provide a driving force for the support frame, the counterweight assembly is symmetrically arranged at both ends of the support frame to ensure the balance of the support frame, the flipping device is arranged on the support frame through the flipping drive device to fix and flip the wind turbine, the detection device is arranged in the middle of the flipping device to detect the fixing information of the flipping device on the wind turbine, and the control system is arranged on the support frame to control the walking mechanism, the counterweight assembly, the flipping drive device and the driving force of the flipping device, wherein:

[0005] The walking mechanism includes a walking frame, a walking drive motor, a walking drive wheel, a walking steering motor, a mechanical brake, an electromagnetic brake assembly and a wheel pressure detector. The walking drive wheel is rotatably arranged on the walking frame through the walking steering motor, and is used to provide a steering force to the walking drive wheel. The walking drive motor is arranged at one side of the walking drive wheel, and is used to provide a driving force to the walking drive wheel. The mechanical brake is arranged on the walking drive wheel, and is used to brake the walking drive wheel. The electromagnetic brake assembly is arranged at one side of the walking frame, and is used to brake the walking frame. The wheel pressure detector is arranged on the walking drive wheel, and is used to detect the pressure of the walking drive wheel.

[0006] The flipping device comprises a flipping platform, a support frame, a radial drive assembly, and a clamping drive assembly. The support frame is arranged on the flipping platform in a cross shape through the radial drive assembly, and the clamping drive assembly is arranged on the outside of the support frame for fixing the wind turbine set.

[0007] The control system includes a controller, a power system and a hydraulic system. The power system is connected to the controller for controlling the output of electric power, and the hydraulic system is connected to the controller for controlling the output of hydraulic oil.

[0008] Furthermore, in the above-mentioned wind turbine hoisting support device, the counterweight assembly includes a counterweight block, a counterweight slide, a counterweight drive rack, a counterweight drive gear and a counterweight drive motor, the counterweight block is slidably arranged on both sides of the support frame through the counterweight slide, the counterweight drive rack is fixedly arranged on the side of the support frame close to the counterweight slide, the counterweight drive motor is installed on the counterweight slide, the counterweight drive gear is keyed to the output shaft of the counterweight drive motor, the counterweight drive gear is meshed with the counterweight drive rack gear, and the counterweight drive motor is electrically connected to the power system.

[0009] Furthermore, in the above-mentioned wind turbine hoisting support device, the flipping drive device includes a first hydraulic cylinder, a second hydraulic cylinder and a third hydraulic cylinder, the length of the second hydraulic cylinder is twice the length of the first hydraulic cylinder, the first hydraulic cylinder is symmetrically hinged on one side of the top of the support frame, the second hydraulic cylinder is symmetrically hinged on the other side of the top of the support frame, the third hydraulic cylinder is hinged between the first hydraulic cylinder and the second hydraulic cylinder, the output end of the third hydraulic cylinder is hinged to the second hydraulic cylinder, the output ends of the first hydraulic cylinder and the second hydraulic cylinder are both hinged to the flipping platform, and the first hydraulic cylinder, the second hydraulic cylinder and the third hydraulic cylinder are connected to the hydraulic oil circuit of the hydraulic system.

[0010] Furthermore, in the above-mentioned wind turbine hoisting support device, the radial drive assembly includes a radial drive rack, a radial slide, a radial drive gear and a radial drive motor, the radial drive rack is welded on the flip platform, the radial slide is slidably arranged on the flip platform on one side close to the radial drive rack, the radial drive motor is installed on the radial slide, the radial drive gear is keyed to the output end of the radial drive motor, the radial drive gear is meshed with the radial drive rack gear, and the radial drive motor is electrically connected to the power system.

[0011] Furthermore, in the above-mentioned wind turbine hoisting support device, the support frame is arranged in a right-angled triangle structure, and the bottom of the support frame is fixedly connected to the radial slide by bolts.

[0012] Furthermore, in the above-mentioned wind turbine hoisting support device, the clamping assembly includes a clamping drive rack, an outer clamping platform, an inner clamping platform, an outer clamping platform drive motor, an inner clamping platform drive motor, an outer clamping platform drive gear and an inner clamping platform drive gear, the clamping drive rack is welded on the outside of the support frame, the outer clamping platform and the inner clamping platform are symmetrically slidably arranged on the support frame close to the side of the clamping drive rack, the outer clamping platform drive motor is installed on the outer clamping platform, the outer clamping drive gear is keyed to the output shaft of the outer clamping platform drive motor, the inner clamping platform drive motor is installed on the inner clamping platform, the inner clamping drive gear is keyed to the output shaft of the inner clamping platform drive motor, the outer clamping drive gear and the inner clamping drive gear are both meshed with the clamping drive rack gear, and the outer clamping platform drive motor and the inner clamping platform drive motor are both electrically connected to the power system.

[0013] Furthermore, in the above-mentioned wind turbine hoisting support device, the detection device includes an end detection device, a clamping detection device, an inner clamping table detection device and an outer clamping table detection device; the end detection device is installed on the top of the support frame; the clamping detection device is installed on the side of the radial slide close to the inner clamping table; the inner clamping table detection device is installed on the inner clamping table; the outer clamping table detection device is installed on the outer clamping table; the end detection device, the clamping detection device, the inner clamping table detection device and the outer clamping table detection device are all connected to the input end of the controller.

[0014] Furthermore, in the above-mentioned wind turbine hoisting support device, the wheel pressure detector is connected to the controller input end.

[0015] Furthermore, in the above-mentioned wind turbine hoisting support device, the travel drive motor, the travel steering motor, the mechanical brake and the electromagnetic brake assembly are all electrically connected to the power system.

[0016] The wind turbine hoisting and supporting method of the present invention comprises:

[0017] Determine the hoisting position of the wind turbine set, transport the wind turbine set to one side of the hoisting position through the transport device, lay the steel plate at the hoisting position, then control the flip drive device through the hydraulic system through the controller to flip the flip device, drive the travel drive motor to drive the travel drive wheel to the flip side of the flip device, and adjust the direction through the travel steering motor to insert the support frame into the wind turbine set. When the end detection device detects that the support frame has been inserted into the wind turbine set to a certain depth, the end detection device sends a control command to the controller, and the controller controls the mechanical brake through the power system to brake and position the travel drive wheel, and controls the electromagnetic The brake assembly rotates parallel to the steel plate so that the electromagnetic brake generates magnetic force to attract and fix the steel plate. At this time, the controller controls the radial drive assembly through the power system to drive the support frame to move outward. When the clamping detection device detects the connection port of the wind turbine, it sends a control command to the controller. The controller controls the radial drive assembly to stop moving through the power system. At this time, the controller controls the clamping drive assembly to move in opposite directions through the power system. When the inner clamping table detection device and the outer clamping table detection device reach the set position, they send a control command to the controller. The controller controls the clamping drive assembly to stop moving through the power system, and the wind turbine and the flipping device are completely fixed.

[0018] At this time, the controller controls the flipping drive device through the hydraulic system to flip the flipping device together with the wind turbine. During the flipping process, the wheel pressure detector detects the wheel pressure value. When the pressure value on one side is greater than the set value, the wheel pressure detector sends a control command to the controller. The controller controls the counterweight assembly on the same side where the wheel pressure value is too large to move toward the inside of the support frame through the power system, and at the same time controls the counterweight assembly on the other side to move toward the outside of the support frame until the wind turbine is vertically supported and lifted by a crane.

[0019] The wind turbine hoisting support device and method of the present invention have the following advantages and beneficial effects:

[0020] The present invention, by cooperating the radial drive assembly with the clamping drive assembly, can meet the needs of fixing wind turbine sets of various specifications. By cooperating the flipping drive device with the flipping device, the wind turbine assembly in a horizontal transportation state can be effectively flipped to a vertical installation state. It can be hoisted by a crane, which effectively improves the installation efficiency, reduces the installation cost, and effectively solves the problem of insufficient hoisting space. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings in the following descriptions are only used to further understand the embodiments of the present invention and constitute a part of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0022] Figure 1 It is a schematic diagram of the overall structure of the wind turbine hoisting support device of the present invention;

[0023] Figure 2 This is a schematic diagram of the structure of the walking mechanism of the wind turbine hoisting support device of the present invention;

[0024] Figure 3 It is a schematic structural diagram of a flipping device of a wind turbine hoisting support device of the present invention;

[0025] Figure 4 This is a schematic diagram of the structure of the counterweight assembly of the wind turbine hoisting support device of the present invention;

[0026] Figure 5 It is a schematic diagram of the connection state of the turning device with the wind turbine generator set after turning over during the implementation of the wind turbine generator set hoisting support method of the present invention;

[0027] Figure 6 It is a schematic diagram of the state of the electromagnetic brake assembly after braking during the implementation of the wind turbine hoisting support method of the present invention;

[0028] Figure 7 It is a schematic diagram of the state of a wind turbine after being supported during the implementation of the wind turbine hoisting and supporting method of the present invention.

[0029] Description of reference numerals:

[0030] 1: Support frame;

[0031] 2: walking mechanism, 21: walking frame, 22: walking drive motor, 23: walking drive wheel, 24: walking steering motor, 25: mechanical brake, 26: electromagnetic brake assembly, 27: wheel pressure detector;

[0032] 3: counterweight assembly, 31: counterweight block, 32: counterweight slide, 33: counterweight drive rack, 34: counterweight drive gear, 35: counterweight drive motor;

[0033] 4: flip driving device, 41: first hydraulic cylinder, 42: second hydraulic cylinder, 43: third hydraulic cylinder;

[0034] 5: turning device, 51: turning platform, 52: supporting frame;

[0035] 53: radial drive assembly, 531: radial drive rack, 532: radial slide, 533: radial drive gear, 534: radial drive motor;

[0036] 54: clamping drive assembly, 541: clamping drive rack, 542: outer clamping table, 543: inner clamping table, 544: outer clamping table drive motor, 545: inner clamping table drive motor, 546: outer clamping table drive gear, 547: inner clamping table drive gear;

[0037] 6: detection device, 61: end detection device, 62: clamping detection device, 63: inner clamping platform detection device, 64: outer clamping platform detection device;

[0038] 7: control system, 71: controller, 72: power system, 73: hydraulic system. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0040] like Figures 1 to 4 As shown, the wind turbine hoisting support device of the present invention comprises a support frame 1, a walking mechanism 2, a counterweight assembly 3, a flip drive device 4, a flip device 5, a detection device 6 and a control system 7. The walking mechanism 2 is arranged at the lower end of the support frame 1 to provide a driving force for the support frame 1. The counterweight assembly 3 is symmetrically arranged at both ends of the support frame 1 to ensure the balance of the support frame 1. The flip device 5 is arranged on the support frame 1 through the flip drive device 4 to fix and flip the wind turbine. The detection device 6 is arranged in the middle of the flip device 5 to detect the fixing information of the flip device 5 on the wind turbine. The control system 7 is arranged on the support frame 1 to control the driving force of the walking mechanism 2, the counterweight assembly 3, the flip drive device 4 and the flip device 5, wherein:

[0041] The walking mechanism 2 includes a walking frame 21, a walking drive motor 22, a walking drive wheel 23, a walking steering motor 24, a mechanical brake 25, an electromagnetic brake assembly 26 and a wheel pressure detector 27. The walking drive wheel 23 is rotatably arranged on the walking frame 21 through the walking steering motor 24, and is used to provide a steering force to the walking drive wheel 23. The walking drive motor 22 is arranged on one side of the walking drive wheel 23, and is used to provide a driving force to the walking drive wheel 23. The mechanical brake 25 is arranged on the walking drive wheel 23, and is used to brake the walking drive wheel 23. The electromagnetic brake assembly 26 is arranged on one side of the walking frame 21, and is used to brake the walking frame 21. The wheel pressure detector 27 is arranged on the walking drive wheel 23, and is used to detect the pressure of the walking drive wheel 23.

[0042] The turning device 5 includes a turning platform 51, a support frame 52, a radial drive assembly 53, and a clamping drive assembly 54. The support frame 52 is arranged on the turning platform 51 in a cross shape through the radial drive assembly 53, and the clamping drive assembly 54 is arranged outside the support frame 52 for fixing the wind turbine set.

[0043] The control system 7 includes a controller 71, a power system 72 and a hydraulic system 73. The power system 72 is connected to the controller 71 for controlling the output of electric power, and the hydraulic system 73 is connected to the controller 71 for controlling the output of hydraulic oil.

[0044] Furthermore, in the above-mentioned wind turbine hoisting support device, the counterweight assembly 3 includes a counterweight block 31, a counterweight slide 32, a counterweight drive rack 33, a counterweight drive gear 34 and a counterweight drive motor 35. The counterweight block 31 is slidably arranged on both sides of the support frame 1 through the counterweight slide 32, the counterweight drive rack 33 is fixedly arranged on the side of the support frame 1 close to the counterweight slide 32, the counterweight drive motor 35 is installed on the counterweight slide 32, the counterweight drive gear 34 is keyed to the output shaft of the counterweight drive motor 35, the counterweight drive gear 34 is gear-engaged with the counterweight drive rack 33, and the counterweight drive motor 35 is electrically connected to the power system 72, so that the power system 72 supplies power to the counterweight drive motor 35 to drive the counterweight drive gear 34 so that the counterweight slide 32 drives the counterweight block 31 to move along the counterweight drive rack 33.

[0045] The flip driving device comprises a first hydraulic cylinder, a second hydraulic cylinder and a third hydraulic cylinder, the length of the second hydraulic cylinder is twice the length of the first hydraulic cylinder, the first hydraulic cylinder is symmetrically hinged on one side of the top of the support frame, the second hydraulic cylinder is symmetrically hinged on the other side of the top of the support frame, the third hydraulic cylinder is hinged between the first hydraulic cylinder and the second hydraulic cylinder, and the output end of the third hydraulic cylinder is hinged to the second hydraulic cylinder,

[0046] Furthermore, in the above-mentioned wind turbine hoisting support device, the flipping drive device 4 includes a first hydraulic cylinder 41, a second hydraulic cylinder 42 and a third hydraulic cylinder 43. The length of the second hydraulic cylinder 42 is twice the length of the first hydraulic cylinder 41. The first hydraulic cylinder 41 is symmetrically hinged on one side of the top of the support frame 1, and the second hydraulic cylinder 42 is symmetrically hinged on the other side of the top of the support frame 1. The third hydraulic cylinder 43 is hinged between the first hydraulic cylinder 41 and the second hydraulic cylinder 42. The output end of the third hydraulic cylinder 43 is hinged to the second hydraulic cylinder 42, so that the stability of the flipping drive platform 51 is maintained by the third hydraulic cylinder 43. The output ends of the first hydraulic cylinder 41 and the second hydraulic cylinder 42 are both hinged to the flipping platform 51. The first hydraulic cylinder 41, the second hydraulic cylinder 42 and the third hydraulic cylinder 43 are connected to the hydraulic oil circuit of the hydraulic system 73, so that the flipping platform 51 can be flipped by controlling the hydraulic system 73 to control the extension and contraction amount of the first hydraulic cylinder 41 and the second hydraulic cylinder 42.

[0047] Furthermore, in the above-mentioned wind turbine hoisting support device, the radial drive assembly 53 includes a radial drive rack 531, a radial slide 532, a radial drive gear 533 and a radial drive motor 534. The radial drive rack 531 is welded on the flip platform 51, the radial slide 532 is slidably set on the flip platform 51 on the side close to the radial drive rack 531, the radial drive motor 534 is installed on the radial slide 532, the radial drive gear 533 is keyed to the output end of the radial drive motor 534, the radial drive gear 533 is gear-engaged with the radial drive rack 531, and the radial drive motor 534 is electrically connected to the power system 72, so that the power system 72 supplies power to the radial drive motor 534 to drive the radial drive gear 533 to drive the radial slide 532 to move along the radial drive rack 531, thereby meeting the interface requirements of different wind turbines.

[0048] Furthermore, in the above-mentioned wind turbine hoisting support device, the support frame 52 is arranged in a right-angled triangle structure, and the bottom of the support frame 52 is fixedly connected to the radial slide 532 by bolts, thereby ensuring stable support for the wind turbine.

[0049] Furthermore, in the above-mentioned wind turbine hoisting support device, the clamping assembly includes a clamping drive rack 541, an outer clamping platform 542, an inner clamping platform 543, an outer clamping platform drive motor 544, an inner clamping platform drive motor 545, an outer clamping platform drive gear 546 and an inner clamping platform drive gear 547. The clamping drive rack 541 is welded to the outer side of the support frame 52, the outer clamping platform 542 and the inner clamping platform 543 are symmetrically slidably arranged on the support frame 52 near the side of the clamping drive rack 541, the outer clamping platform drive motor 544 is installed on the outer clamping platform 542, the outer clamping drive gear is keyed to the output shaft of the outer clamping platform drive motor 544, and the inner clamping platform drive motor 545 is installed on the outer clamping platform 542. Installed on the inner clamping table 543, the inner clamping drive gear is keyed to the output shaft of the inner clamping table drive motor 545, the outer clamping drive gear and the inner clamping drive gear are both meshed with the clamping drive rack 541, the outer clamping table drive motor 544 and the inner clamping table drive motor 545 are both electrically connected to the power system 72, so that the outer clamping table drive motor 544 and the inner clamping table drive motor 545 are respectively powered by the power system 72 to drive the outer clamping table drive gear 546 and the inner clamping table drive gear 547 to rotate and drive the outer clamping table 542 and the inner clamping table to move relative to each other along the clamping drive rack 541, thereby meeting the requirements of the wind turbine set at different depths and different flange clamping thicknesses.

[0050] Furthermore, in the above-mentioned wind turbine hoisting support device, the detection device 6 includes an end detection device 61, a clamping detection device 62, an inner clamping platform detection device 63 and an outer clamping platform detection device 64. The end detection device 61 is installed on the top of the support frame 52, the clamping detection device 62 is installed on the side of the radial slide 532 close to the inner clamping platform 543, the inner clamping platform detection device 63 is installed on the inner clamping platform 543, and the outer clamping platform detection device 64 is installed on the outer clamping platform 542. The end detection device 61, the clamping detection device 62, the inner clamping platform detection device 63 and the outer clamping platform detection device 64 are all connected to the input end of the controller 71, so that the controller 71 outputs corresponding control information according to the position information input by the end detection device 61, the clamping detection device 62, the inner clamping platform detection device 63 and the outer clamping platform detection device 64, so that the wind turbine can be quickly and accurately fixed.

[0051] Furthermore, in the above-mentioned wind turbine hoisting support device, the wheel pressure detector 27 is connected to the input end of the controller 71 , so that the controller 71 outputs corresponding control information according to the pressure information input by the wheel pressure detector 27 .

[0052] Furthermore, in the above-mentioned wind turbine hoisting support device, the travel drive motor 22, the travel steering motor 24, the mechanical brake 25 and the electromagnetic brake assembly 26 are all electrically connected to the power system 72, so that the operation of the travel drive motor 22, the travel steering motor 24, the mechanical brake 25 and the electromagnetic brake assembly 26 are controlled by controlling the output of the power system 72.

[0053] The wind turbine hoisting and supporting method of the present invention comprises:

[0054] Determine the hoisting position of the wind turbine set, transport the wind turbine set to one side of the hoisting position through the transport device, lay the steel plate at the hoisting position, and then control the flip drive device 4 through the hydraulic system 73 through the controller 71 to flip the flip device 5, drive the travel drive wheel 23 to move toward the flip side of the flip device 5 through the travel drive motor 22, and adjust the direction through the travel steering motor 24, so that the support frame 52 is inserted into the wind turbine set, as shown in FIG. Figure 5 As shown, when the end detection device 61 detects that the support frame 52 is inserted into the wind turbine to a certain depth, the end detection device 61 sends a control command to the controller 71, and the controller 71 controls the mechanical brake 25 to brake and position the travel drive wheel 23 through the power system 72, and at the same time controls the electromagnetic brake assembly 26 to rotate parallel to the steel plate so that the electromagnetic brake generates magnetic force to attract and fix the steel plate, as shown in FIG. Figure 6 As shown, at this time, the controller 71 controls the radial drive assembly 53 through the power system 72 to drive the support frame 52 to move outward. When the clamping detection device 62 detects the connection port of the wind turbine, the controller 71 sends a control command to the controller 71. The controller 71 controls the radial drive assembly 53 to stop moving through the power system 72. At this time, the controller 71 controls the clamping drive assembly 54 to move in opposite directions through the power system 72. When the inner clamping platform detection device 63 and the outer clamping platform detection device 64 reach the set position, the controller 71 sends a control command to the controller 71. The controller 71 controls the clamping drive assembly 54 to stop moving through the power system 72, and the wind turbine and the flip device 5 are completely fixed;

[0055] At this time, the controller 71 controls the flipping drive device 4 through the hydraulic system 73 to flip the flipping device 5 together with the wind turbine. During the flipping process, the wheel pressure detector 27 detects the wheel pressure value. When the pressure value on one side is greater than the set value, the wheel pressure detector 27 sends a control command to the controller 71. The controller 71 controls the counterweight assembly 3 on the same side with the excessive wheel pressure value to move toward the inside of the support frame 1 through the power system 72, and controls the counterweight assembly 3 on the other side to move toward the outside of the support frame 1 until the wind turbine is vertically supported. Figure 7 As shown, hoisting is carried out with the help of crane.

[0056] In summary, compared with the prior art, the wind turbine hoisting support device and method of the present invention have the following advantages and beneficial effects: the present invention, through the cooperation of the radial drive component and the clamping drive component, can meet the fixation of wind turbines of various specifications, and through the cooperation of the flipping drive device and the flipping device, the wind turbine components in the horizontal transportation state can be effectively flipped to the vertical installation state, and can be hoisted by a crane, which effectively improves the installation efficiency, reduces the installation cost, and effectively solves the problem of insufficient hoisting space.

[0057] It should be noted that, in this article, unless otherwise clearly specified and limited, the term "connection" or its synonyms should be understood in a broad sense. For example, "connection" can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances. Moreover, expressions such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. At the same time, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such a process, method, article or device. In addition, "front", "back", "left", "right", "upper" and "lower" in this article are all referenced to the placement state shown in the accompanying drawings.

[0058] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A wind turbine hoisting support device, characterized in that: The wind turbine hoisting support device comprises a support frame, a walking mechanism, a counterweight assembly, a flipping drive device, a flipping device, a detection device and a control system. The walking mechanism is arranged at the lower end of the support frame to provide a driving force for the support frame. The counterweight assembly is symmetrically arranged at both ends of the support frame to ensure the balance of the support frame. The flipping device is arranged on the support frame through the flipping drive device to fix and flip the wind turbine. The detection device is arranged in the middle of the flipping device to detect the fixing information of the flipping device on the wind turbine. The control system is arranged on the support frame to control the walking mechanism, the counterweight assembly, the flipping drive device and the driving force of the flipping device, wherein: The walking mechanism includes a walking frame, a walking drive motor, a walking drive wheel, a walking steering motor, a mechanical brake, an electromagnetic brake assembly and a wheel pressure detector. The walking drive wheel is rotatably arranged on the walking frame through the walking steering motor, and is used to provide a steering force to the walking drive wheel. The walking drive motor is arranged at one side of the walking drive wheel, and is used to provide a driving force to the walking drive wheel. The mechanical brake is arranged on the walking drive wheel, and is used to brake the walking drive wheel. The electromagnetic brake assembly is arranged at one side of the walking frame, and is used to brake the walking frame. The wheel pressure detector is arranged on the walking drive wheel, and is used to detect the pressure of the walking drive wheel. The flipping device comprises a flipping platform, a support frame, a radial drive assembly and a clamping drive assembly, wherein the support frame is arranged on the flipping platform in a cross shape through the radial drive assembly, and the clamping drive assembly is arranged outside the support frame for fixing the wind turbine set; The control system includes a controller, a power system and a hydraulic system. The power system is connected to the controller for controlling the output of electric power, and the hydraulic system is connected to the controller for controlling the output of hydraulic oil.

2. The wind turbine hoisting support device according to claim 1, characterized in that: The counterweight assembly includes a counterweight block, a counterweight slide, a counterweight drive rack, a counterweight drive gear and a counterweight drive motor. The counterweight block is slidably arranged on both sides of the support frame through the counterweight slide. The counterweight drive rack is fixedly arranged on the side of the support frame close to the counterweight slide. The counterweight drive motor is installed on the counterweight slide. The counterweight drive gear is keyed to the output shaft of the counterweight drive motor. The counterweight drive gear is meshed with the counterweight drive rack gear. The counterweight drive motor is electrically connected to the power system.

3. The wind turbine hoisting support device according to claim 1, characterized in that: The flipping drive device includes a first hydraulic cylinder, a second hydraulic cylinder and a third hydraulic cylinder. The length of the second hydraulic cylinder is twice that of the first hydraulic cylinder. The first hydraulic cylinder is symmetrically hinged on one side of the top of the support frame. The second hydraulic cylinder is symmetrically hinged on the other side of the top of the support frame. The third hydraulic cylinder is hinged between the first hydraulic cylinder and the second hydraulic cylinder. The output end of the third hydraulic cylinder is hinged to the second hydraulic cylinder. The output ends of the first hydraulic cylinder and the second hydraulic cylinder are both hinged to the flipping platform. The first hydraulic cylinder, the second hydraulic cylinder and the third hydraulic cylinder are connected to the hydraulic oil circuit of the hydraulic system.

4. The wind turbine hoisting support device according to claim 1, characterized in that: The radial drive assembly includes a radial drive rack, a radial slide, a radial drive gear and a radial drive motor. The radial drive rack is welded on the flip platform. The radial slide is slidably arranged on the flip platform on a side close to the radial drive rack. The radial drive motor is installed on the radial slide. The radial drive gear is key-connected with the output end of the radial drive motor. The radial drive gear is meshed with the radial drive rack gear. The radial drive motor is electrically connected to the power system.

5. The wind turbine hoisting support device according to claim 4, characterized in that: The support frame is arranged in a right-angled triangle structure, and the bottom of the support frame is fixedly connected to the radial slide by bolts.

6. The wind turbine hoisting support device according to claim 5, characterized in that: The clamping assembly includes a clamping drive rack, an outer clamping table, an inner clamping table, an outer clamping table drive motor, an inner clamping table drive motor, an outer clamping table drive gear and an inner clamping table drive gear. The clamping drive rack is welded on the outer side of the support frame, and the outer clamping table and the inner clamping table are symmetrically slidably arranged on the support frame close to the side of the clamping drive rack. The outer clamping table drive motor is installed on the outer clamping table, and the outer clamping drive gear is keyed to the output shaft of the outer clamping table drive motor. The inner clamping table drive motor is installed on the inner clamping table, and the inner clamping drive gear is keyed to the output shaft of the inner clamping table drive motor. The outer clamping drive gear and the inner clamping drive gear are both meshed with the clamping drive rack gear, and the outer clamping table drive motor and the inner clamping table drive motor are both electrically connected to the power system.

7. The wind turbine hoisting support device according to claim 6, characterized in that: The detection device includes an end detection device, a clamping detection device, an inner clamping table detection device and an outer clamping table detection device. The end detection device is installed on the top of the support frame, the clamping detection device is installed on the side of the radial slide close to the inner clamping table, the inner clamping table detection device is installed on the inner clamping table, and the outer clamping table detection device is installed on the outer clamping table. The end detection device, the clamping detection device, the inner clamping table detection device and the outer clamping table detection device are all connected to the input end of the controller.

8. The wind turbine hoisting support device according to claim 1, characterized in that: The wheel pressure detector is connected to the controller input terminal.

9. The wind turbine hoisting support device according to claim 1, characterized in that: The travel drive motor, the travel steering motor, the mechanical brake and the electromagnetic brake assembly are all electrically connected to the power system.

10. A method for hoisting and supporting a wind turbine using the wind turbine hoisting and supporting device according to any one of claims 1 to 9, characterized in that: The wind turbine hoisting and supporting method comprises: Determine the hoisting position of the wind turbine set, transport the wind turbine set to one side of the hoisting position through the transport device, lay the steel plate at the hoisting position, then control the flip drive device through the hydraulic system through the controller to flip the flip device, drive the travel drive motor to drive the travel drive wheel to the flip side of the flip device, and adjust the direction through the travel steering motor to insert the support frame into the wind turbine set. When the end detection device detects that the support frame has been inserted into the wind turbine set to a certain depth, the end detection device sends a control command to the controller, and the controller controls the mechanical brake through the power system to brake and position the travel drive wheel, and controls the electromagnetic The brake assembly rotates parallel to the steel plate so that the electromagnetic brake generates magnetic force to attract and fix the steel plate. At this time, the controller controls the radial drive assembly through the power system to drive the support frame to move outward. When the clamping detection device detects the connection port of the wind turbine, it sends a control command to the controller. The controller controls the radial drive assembly to stop moving through the power system. At this time, the controller controls the clamping drive assembly to move in opposite directions through the power system. When the inner clamping table detection device and the outer clamping table detection device reach the set position, they send a control command to the controller. The controller controls the clamping drive assembly to stop moving through the power system, and the wind turbine and the flipping device are completely fixed. At this time, the controller controls the flipping drive device through the hydraulic system to flip the flipping device together with the wind turbine. During the flipping process, the wheel pressure detector detects the wheel pressure value. When the pressure value on one side is greater than the set value, the wheel pressure detector sends a control command to the controller. The controller controls the counterweight assembly on the same side where the wheel pressure value is too large to move toward the inside of the support frame through the power system, and at the same time controls the counterweight assembly on the other side to move toward the outside of the support frame until the wind turbine is vertically supported and lifted by a crane.

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